CN88103400A - Inverter controlling apparatus - Google Patents
Inverter controlling apparatus Download PDFInfo
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- CN88103400A CN88103400A CN88103400.2A CN88103400A CN88103400A CN 88103400 A CN88103400 A CN 88103400A CN 88103400 A CN88103400 A CN 88103400A CN 88103400 A CN88103400 A CN 88103400A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0016—Control circuits providing compensation of output voltage deviations using feedforward of disturbance parameters
- H02M1/0022—Control circuits providing compensation of output voltage deviations using feedforward of disturbance parameters the disturbance parameters being input voltage fluctuations
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/4803—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode with means for reducing DC component from AC output voltage
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Inverter Devices (AREA)
- Power Conversion In General (AREA)
Abstract
Containing the PWM inverter, in the control device for inverter of frequency control apparatus and voltage-operated device, be provided with frequency adjusting device so that the operating frequency of inverter is adjusted to voltage in each positive half cycle of the output voltage that makes inverter and the time product equals product in its adjacent negative half period.Frequency adjusting device is according to the output frequency of the testing result of the pulsation rate of the input voltage of inverter being adjusted inverter when inverter is used for the device of control of induction, and frequency adjustment amount means for correcting comes the frequency adjustment amount of emending frequency adjusting device according in the output of the output of induction motor rotation detecting and voltage-operated device at least one.
Description
The present invention is an inverter controlling apparatus, and particularly the VD of input translator and making is transformed to the inverter controlling apparatus of all variable interchange of voltage and frequency.
So far, as this control technology is at first known Japanese Patent Publication 61-48356 communique arranged.
In this communique, owing to be direct current with exchange conversion with converter, and during to all variable pulse-width modulated inverter power supply of voltage and frequency, in being the input voltage of inverter, the output voltage of converter contains ripple component (rectification pulsation), so (1) is in the output voltage pulsation of inverter, particularly the problem of beat (beat) phenomenon can take place in the output frequency of inverter at a certain particular value, (2) as its solution, announcement has following control mode, promptly the amplitude ratio of adjusting the carrier signal of sine wave signal and triangular wave according to the change conditions of the input voltage of inverter is PWM(pulse width modulation) width of signal, so that make the output voltage of inverter constant.
And in Japanese kokai publication sho 57-52383 communique, disclose have for reach similar purpose, by using pulse processing, adjust the control mode of the pulse duration of pwm signal according to the change of input voltage.
But, the problem that these control modes exist is that the output voltage at inverter becomes maximum, can not carry out in the voltage-controlled field, promptly contained umber of pulse is 1 pulse in a week of the output voltage of inverter, and can not be suitable in the certain voltage field of maximum.
The object of the present invention is to provide a kind of control device, the beat phenomenon of the inverter output voltage that the ripple component that this device can suppress to be contained in the input voltage because of inverter causes.
In a certain respect of the present invention, be that voltage time product to the adjacent half cycle of inverter output voltage becomes equal direction the operating frequency of inverter is adjusted.
In a preferable embodiment of the present invention, slip frequency is controlled and the inverter output frequency is changed, its result equals voltage time product to the adjacent half cycle of inverter output voltage and becomes equal direction and adjust its operating frequency.
Therefore, can reduce, and can suppress the beat phenomenon of inverter output voltage by the adjacent positive half cycle of the inverter output voltage that ripple component produced contained in the inverter input voltage and the imbalance of negative half period.
Fig. 1 is the circuit diagram of the control device of the induction motor of using inverter of expression one embodiment of the invention;
Fig. 2～Figure 11 is the action specification figure of Fig. 1;
Fig. 2 is the action specification figure by the pulse width modulation that comparison produced of sinusoidal wave and triangular wave;
Fig. 3 is with respect to the umber of pulse of the reference instruction of inverter output frequency and the graph of a relation of inverter output voltage;
Fig. 4 is the input voltage of inverter and the waveform relationship figure of output voltage;
Fig. 5 is the key diagram of the beat phenomenon of inhibition inverter output voltage;
Fig. 6 is the electric current of induction motor and the analog waveform figure of torque;
Fig. 7 is the definition figure of the mark relevant with the electric current of induction motor and torque;
Fig. 8 is the analog result figure relevant with the induction motor peak current;
Fig. 9 is the analog result figure relevant with the torque pulsation of induction motor;
Figure 10 is the figure of the concrete example of the device of the flip-flop that detects the inverter input voltage and pulse composition;
Figure 11 is the gain and the phase characteristic figure of the device of the pulse composition of detection inverter input voltage.
Fig. 1 is the circuit diagram of the inverter controlling apparatus of expression one embodiment of the invention, and 1 is AC power, and 2 for being transformed to AC power 1 in the converter of direct current.3 for using so that the level and smooth filtering capacitor of direct voltage.4 is that control switch element UP～WN by GTO thyristor (grid-controlled transistor) etc. forms and with voltage, the frequency all variable pulse-width modulated inverter of DC converting for exchanging, 5 be the induction motor of being powered by inverter 4.7 is the modulating device of being made up of carrier wave generating means 71, modulating wave generating means 72, comparison means 73 and umber of pulse switching device shifter 74, by the output of this modulating device 7, and make the control switch element UP～WN of inverter 4 do the on-off action with predetermined order through signal treatment circuit 6.
In Fig. 1, detect the speed fn of induction motor 5 with checkout gear 8, instruct fs when power moves and its addition slip frequency with plus and minus calculation device 9, when regeneration, then subtract each other with it.This just becomes the reference instruction fo(=fn of the output frequency of inverter 4 ± fs).Slip frequency instruction fs is will be with the current value I of the detected induction motor 5 of checkout gear 10 with comparison means 11
MWith its command value I
PCompare, and control through slip frequency controlled means 12 according to its difference.
On modulating device 7, be added with occasion on the other hand as the reference frequency instruction output fo of the plus and minus calculation device 9 of the output frequency of inverter 4 instruction f, the sine wave of U, V, W phase takes place in modulating wave generating means 72 shown in (b), (c) of Fig. 2 A, (d), again the triangular wave that takes place shown in Fig. 2 A (a) of carrier wave generating means 71.This triangular wave and sine wave are compared output control switch element UP shown in Fig. 2 B, the pulse that VP, WP use with comparison means 73.Pulse after Fig. 2 B counter-rotating just becomes control switch element UN, the pulse that VN, WN use again.
At this moment, as the input voltage E that establishes inverter 4 is not only for there being the flip-flop Eo of ripple component △ Eo, and then the waveform of the output voltage of inverter 4 (between U-V) is shown in Fig. 2 C, energy imbalance can not take place between positive and negative half cycle.And the output voltage of inverter 4 is that the peak change of the sine wave of Fig. 2 A is controlled by the width θ c that makes Fig. 2 B.Again at the output fo of the output frequency f(=of inverter 4 plus and minus calculation device 9) half cycle in the umber of pulse (being 3 pulses in Fig. 2) of output voltage of the inverter 4 that comprised be that triangular wave and sinusoidal wave frequency ratio by switching Fig. 2 A with umber of pulse switching device shifter 74 is that the triangle wave frequency controls.This umber of pulse is by umber of pulse switching device shifter 74 with respect to the output fo as the plus and minus calculation device 9 of the reference instruction of the output frequency f of inverter 4, for example as shown in Figure 3, switches to 27-15-9-5-3-1.The output voltage V of inverter 4 again
MWith respect to output fo as the plus and minus calculation means 9 of the reference instruction of the output frequency f of inverter 4, for making it be continuous curve as shown in Figure 3, be that the ratio that calculates sinusoidal wave peak value/triangular wave peak value of Fig. 2 A by voltage-operated device 13 is modulation rate γ, to control sinusoidal wave peak value.Again, when umber of pulse when 3 pulses switch to 1 pulse, the output voltage V of inverter 4
MThe phenomenon that saltus step is arranged.This be because below, control switch element UP～WN is cut off fully needs the regular hour, thereby can not be the width of Fig. 2 B, θ c continuous control to zero be the output voltage V of inverter 4
MBecoming maximum and umber of pulse is 1.
, even be provided with the filtering capacitor 3 of the level and smooth usefulness of direct voltage, on the input voltage E of inverter 4, also can produce by the rectification caused ripple component △ Eo of pulsing at the outlet side of inverter 2.As the capacity of filter capacitor 3 is become greatly, this ripple component △ Eo can diminish, but can not remove fully.And exist the problem that filtering capacitor 3 maximizes.Thereby, as to establish umber of pulse be i.e. modulation rate γ (=sinusoidal wave peak value/leg-of-mutton peak value) 〉=1 in Fig. 2 A of 1 pulse, and establish the output fo of the output frequency instruction f=plus and minus calculation device 9 of inverter 4, then consider the input voltage E(=flip-flop Eo of the inverter 4 behind the ripple component △ Eo
+Pulse composition △ Eo) and the relation of output voltage (between line) as shown in Figure 4.Fig. 4 A be flutter component △ Eo frequency f e(this result from rectification pulsation, therefore be constant)＞occasion of the output fo of plus and minus calculation device 9, Fig. 4 C then is the occasion of output fo of frequency f e＜plus and minus calculation device 9 of ripple component △ Eo, in that both almost all can not produce energy imbalance between positive and negative half cycle on the output voltage of inverter 4.Again, the phenomenon of the output fo of the frequency f e of ripple component △ Eo＞plus and minus calculation device 9 is to take place in low-speed range, can understand also that from Fig. 3 umber of pulse is more usually, even but also can infer at an easy rate and see that from Fig. 4 A in this occasion be can not produce energy imbalance on the output voltage of inverter 4 between positive and negative half cycle.Fig. 4 B is the output fo of output frequency f(=plus and minus calculation device 9 of the frequency f e=inverter 4 of ripple component △ Eo) occasion, energy imbalance is arranged between positive and negative half cycle, producing on the output voltage of inverter 4.This unbalanced size is with the output fo of the output frequency f(=plus and minus calculation device 9 frequency f e and inverter 4 of ripple component △ Eo) the frequency of difference change, promptly the output voltage of inverter 4 can cause beat phenomenon.
Therefore, in the device 14 of the output frequency f that adjusts inverter 4, detect the flip-flop Eo of the input voltage E of inverter 4 with checkout gear 142, in addition, with the phase difference α of checkout gear 141 to be scheduled to, detect the ripple component △ Eo of the input voltage E of inverter 4, with the output △ Eo ' of this checkout gear 141 (| △ Eo ' |=| △ Eo|) be divided by by division arithmetic device 143 with the output Eo of checkout gear 142, again the output of this division arithmetic device 143 output fo by multiplying device 144 and plus and minus calculation device 9 is carried out multiplying, thereby the adjustment composition △ fo(=△ E ' of the output frequency of output inverter 4 fo/Eo).
Herein, the output △ fo of the adjusting device 14 of the inverter output frequency output fo by add operation device 15 and plus and minus calculation device 9 is carried out add operation, and as the output frequency instruction f(fo ' △ fo of inverter 4).Again, as the pulsation rate of establishing the input voltage E of inverter 4 is K, and this flutter component △ Eo becomes sinusoidal wave shape when frequency f e, and then the input voltage E of inverter 4 and output frequency instruction f can be represented by the formula.
E＝Eo+△Eo＝Eo+KEo sin（2πf
et） ...（1）
f＝fo+△fo＝fo+△Eo′fo/Eo
＝fo+Kfo sin（2πfet+α） ...（2）
Again, be added on the modulating device 7 U that represents with following formula of modulating wave generating means 72 outputs then, V, the modulation wave signal Gu of W phase, Gv, Gw as output frequency instruction f with the inverter 4 of (2) formula.
θ＝2π∫fdt＝2πfot+2π∫△fodt
＝2πfot- (kfo)/(fe) cos（2πfet+d） ...（4）
In the formula, γ: the modulation rate ratio of carrier wave peak value (peak value of modulating wave with)
And, the adjustment composition △ fo of the input voltage E of inverter 4, the output frequency of inverter 4 and the output (Gu of modulating wave generating means 72, Gv) relation, as establish for example output fo of the frequency f e=plus and minus calculation device 9 of the ripple component △ Eo of the input voltage E of inverter 4, ripple component △ Eo and this detected value △ Eo ' (| △ Eo ' |=| △ Eo|) phase difference α=0 °, then respectively as Fig. 5 A, Fig. 5 B, shown in Fig. 5 C.Particularly the output of modulating wave generating means 72 is that the adjustment composition △ fo of the output frequency of inverter 4 becomes from the dotted line of Fig. 5 C and is solid line because of second of (4) formula.Consequently the output voltage of inverter 4 is in the occasion of umber of pulse=1 pulse (peak value 〉=1 of the peak value/triangular wave of modulation rate γ=sine wave in Fig. 2 A), becomes from the dotted line of Fig. 5 D to be solid line, and the imbalance between the positive and negative half cycle reduces significantly.
Herein, the amount of unbalance with regard to the positive and negative half cycle of the output voltage of inverter 4 describes with mathematical expression by Fig. 5.
The output of modulating wave generating means 72 is at the Gu ' of dotted line in Fig. 5 (C), the occasion of Gv ', and Gu ' and Gv ' they are that 0 o'clock Tu ' and Tv ' is
And for example the output of modulating wave generating means 72 becomes the Gu of solid line, Gv, and then Gu and Gv are that 0 o'clock Tu and Tv are
△ Tu of (6) formula of being somebody's turn to do and △ Tv get according to formula (3)～(6)
△T
U（N）＝ (K)/(2πfe) cos｛2πfe（T
U′+△T
U）+d｝
△T
V（N）＝ (K)/(2πfe) cos{2πfe（T
V′+△T
V）+d｝
（N＝0，1，2，...） ...（7）
As, then when the adjustment composition △ of the output frequency that does not have inverter 4 fo, promptly corresponding to the modulating wave Gu ' shown in the dotted line of Fig. 5 C, the voltage time product ET ' of the half cycle of the output voltage of the inverter 4 shown in the dotted line of Fig. 5 D of Gv ' gets by (1) formula is carried out definite integral
ET′（N）＝
（Eo+△Eo）dt
＝ (Eo)/(3fo) - (KEo)/(2πfe) ｛cos（2πfeT
U′）｝
＝ (Eo)/(3fo) -K′sin｛2π（fo-fe） (N)/(2fo) - (πfe)/(3fo) ｝ ...（8）
In the formula
K′＝（-1）
N(KEo)/(πfe) sin（ (πfe)/(3fo) ） ...（9）
N=0,2,4 ...: positive half cycle
N=1,3,5 ...: negative half period
By this (8) formula and (9) formula, inverter 4, the positive and negative half cycle of output voltage between amount of unbalance △ ET ' (=(ET ' (N)-ET ' (N+1))/2), at the output fo of plus and minus calculation device 9 be in its size of the vicinity of the frequency f e of the ripple component △ Eo of the input voltage E of inverter 4 | K ' | and do to change with frequency (fo-fe) and promptly carry out beat.Even this size | K ' | less with respect to the 1st Eo/3fo of (8) formula, but in this frequency (fo-fe) hour, because the impedance of induction motor 5 diminishes, so can flow through excessive electric current in the induction motor 5, and become the commutation failure of inverter 4 or the reason of damage, and the pulsation of the torque of induction motor is also bigger.
To this, occasion at the adjusting device 14 of the output frequency that is provided with inverter 4, promptly corresponding to the modulating wave Gu of the solid line of Fig. 5 C, the voltage time product ET of the half cycle of the output voltage of the inverter 4 of the solid line of Fig. 5 D of Gv gets by (1) is carried out definite integral:
ET′（N）＝
（Eo+△Eo）dt＝
（Eo+△Eo）dt
＝ (Eo)/(3fo) + (KEo)/(2πfo) [cos{2πfe（T
V′+α）｝-cos｛2πfe（T
U′+α）｝]
+ (KEo)/(2πfe) [cos｛2πfe（T
V′+△T
V）+α｝
-cos{2πfe（T
U′+△T
U）+α｝] ...（10）
In the formula
N=0,2,4 ...: positive half cycle
N=1,3,5 ...: negative half period.
In this (10) formula as the phase difference α that establishes the adjustment composition △ fo of the ripple component △ Eo of input voltage E of inverter 4 and output frequency be 0, then the 2nd and the 3rd offset Eo/3fo.It is the amount of unbalance of positive and negative half cycle of the output voltage of inverter 4
((ET(N)-ET(N+1))/2) become 0, thereby suppressed the beat phenomenon of the output voltage of inverter 4.
Yet, particularly in the railway electric car, in order to improve the withstand voltage utilance of the GTO thyristor that is used in inverter, make under the speed about half of the normal speed of electric car that inverter is saturated to be maximum voltage, when being higher than this speed, only frequency is adjusted.Therefore under the speed about half of the normal speed that is higher than electric car, inverter is in 1 pulse control period that its output voltage can not be adjusted.On the other hand, the output frequency of inverter spreads all over whole velocity interval and changes continuously.Therefore, as make the AC power 1 of Fig. 1 be single-phase 50Hz(hertz), then the rectification of converter 2 pulsation is 100Hz, inverter 4 has entered the 1 pulse control (fo of Fig. 3 〉=fo) when velocity interval by this frequency of the output frequency of inverter 4.
In such occasion, according to above-mentioned principle, can suppress effectively, thereby realize the speed control stably of inverter electric car the beat phenomenon that between the output frequency of the rectification ripple frequency of converter 2 and inverter 4, exists.
Then, in order to confirm the validity of aforesaid way, capacity with regard to induction motor 5 is the 130KW(rated value: voltage 1100V, electric current 86.7A, frequency 75Hz) input voltage that to establish its slip frequency instruction fs the time be definite value (3Hz), establish inverter 4 is (1) formula (flip-flop Eo=1500V, pulsation rate K=6%, the frequency f e=100Hz of ripple component △ Eo) and by giant brain carry out digital analogue result, be described as follows.
The reference instruction fo that Fig. 6 A～6C represents to be located at the output frequency of inverter 4 is the speed fn=100Hz of 103Hz(induction motor 5) the analog result of occasion.Fig. 6 A is the occasion at the adjustment composition △ of the output frequency that does not have inverter 4 fo.Therefore, as can be seen as mentioned above because the imbalance of the positive and negative half cycle of the output voltage of inverter 4, the electric current of induction motor 5 carries out big beat with frequency (fo-fe)=3Hz, and the torque of induction motor 5 is also with the frequency f e(=100Hz of the flutter component △ Eo of the input voltage E of inverter 4) do pulsation greatly.Fig. 6 B is for establishing α=0 ° as mentioned above in (2) formula, and the output △ fo of the output frequency adjusting device 14 by inverter 4 occasion that the output frequency instruction f of inverter 4 is adjusted.Thereby can find out almost the no longer beat phenomenon of the electric current of thoughts induction motor 5, although and the torque pulsation of induction motor also have, compare significantly with Fig. 6 A and reduce.Fig. 6 C is littler for the torque pulsation that makes induction motor 5, makes the α of (2) formula do various variations and establishes the occasion of α=-5 °.It is almost constant that thereby the electric current that can find out induction motor 5 is compared with Fig. 6 B, and the pulsation of the torque of induction motor 5 does not then almost have.Promptly can find out from the pulsation this point of the torque of induction motor 5 and consider, as long as suitably set the α in (2) formula.
Therefore, the mark relevant with the electric current of induction motor 5 and torque defined as shown in Figure 7, the peak current that promptly is located at the induction motor 5 of the occasion that does not have ripple component △ Eo on the input voltage E of inverter 4 is ipn, the mean value of torque is Tav(Fig. 7 A), and the increase composition of establishing by the peak current of the caused induction motor 5 of ripple component △ Eo of the input voltage E of inverter 4 is △ ipb(=ipb-ipn), the ripple component of torque is △ Tb(Fig. 7 B), then make the △ ipb(ipn of the occasion of various variations at the reference instruction fo of the output frequency of inverter 4) and △ Tb(Tav) analog result respectively as Fig. 8 and shown in Figure 9.
From Fig. 8 and Fig. 9 as can be seen, increase composition △ ipb(Fig. 8 of the peak current of induction motor 5) and ripple component △ Tb(Fig. 9 of torque), occasion at the adjustment composition △ of the output frequency that does not have inverter 4 fo, shown in double dot dash line, at the frequency f e(=100Hz of the ripple component △ Eo of the input voltage E of the reference instruction fo=inverter 4 of the output frequency of inverter 4) time can become maximum.When in (2) formula, establishing α=0 ° as mentioned above, the output frequency f of inverter 4 is adjusted as the output △ fo of the adjusting device 14 of the output frequency by inverter 4, then this △ ipb and △ Tb such as single-point the line (Fig. 8, reduce significantly Fig. 9), and at fo and fe(=100Hz) difference compare during as can be seen with fo=fe when big, △ ipb and △ Tb are still big a little.In order to improve this kind situation, be provided with the device 16 that the output △ fo to the adjusting device 14 of the output frequency of inverter 4 proofreaies and correct, output △ fo with the adjusting device 14 of the output frequency of output (correction coefficient) Kc of this means for correcting 16 and inverter 4 in multiplying device 17 carries out multiplying, and the output frequency f of inverter 4 adjusted by (11) formula
f＝fo+△fo′＝fo+Kc△fo
＝fo+KcKfosin（2πfet+α） ...（11）
Making Kc do various variations during again in α=0 ° simulates.Consequently Kc carries out division arithmetic with the speed fn of induction motor 5 to the frequency f e of the ripple component △ Eo of the input voltage E of inverter 4 in division arithmetic device 161, and makes the output of this division arithmetic device 161 carry out square operation promptly with multiplier 162 again
Kc＝（Fe/fn）
2...（12）
Then the increase composition △ ipb of the peak current of induction motor 5 and the ripple component △ Tb of torque have been enhanced shown in the dotted line of Fig. 8 and Fig. 9 as can be seen according to (12) formula.And for example shown in Figure 6, for the ripple component △ Tb that makes torque further improves, in basis (11) formula, (12) formula, when α was changed as shown in Figure 9 with respect to the reference instruction fo of the output frequency of inverter 4, its △ Tb did not almost produce shown in the solid line of Fig. 9.The increase composition △ ipb of the peak current of induction motor 5 less changes shown in the solid line of Fig. 8 at this moment.
Above analog result is that the umber of pulse at the output voltage of inverter 4 is that 1 pulse (referring to Fig. 5) is that output (modulation rate) γ of voltage-operated device 13 is that 1 occasion draws, even and when umber of pulse is a plurality of pulses (γ＜1), also can obtain same effect, output (correction coefficient) Kc of the device 16 that proofread and correct the output △ fo of the adjusting device 14 of the output frequency of inverter 4 this moment shown in (13) formula promptly
Kc＝（ (fe)/(fn) ）
2· 1/(γ) ...（13），
As become (13) formula, as the output that in division arithmetic device 163, removes multiplying device 162, more effective when Kc is confirmed in then available simulation than (12) formula with modulation rate γ.When the starting of induction motor 5 and during low speed, from (12) formula and (13) formula as can be known,, be wise because of Kc limits because of Kc becomes excessive again.
Last in Figure 10 expression one concrete example of the checkout gear 141 of the checkout gear 142 of flip-flop Eo of input voltage E of inverter 4 and its ripple component △ Eo is arranged.The checkout gear 142 of flip-flop Eo of input voltage E that is inverter 4 is for by operational amplifier OP2 and resistance R e21, Re22 and Re23 add the smoothing circuit that capacitor C2 is formed, make its gain (=Re23/Re21) be 1, and with time constant (=Re23 * C2) set greatlyyer.The detection device 141 of the ripple component △ Eo of the input voltage E of inverter 4 is for to add capacitor C11 by operational amplifier OP1 and resistance R e11～Re15 again, the band-pass circuit that C12 formed.The gain of this circuit 141 and phase characteristic are as shown in figure 11, occasion at the frequency f e of the ripple component △ Eo of the input voltage E of inverter 4, the size of size=output △ Eo ' of △ Eo is promptly imported in gain for 1(), and for making input phase is the phase difference α of output △ fo of adjusting device 14 of the output frequency of ripple component △ Eo and inverter 4, as described in Figure 9, reference instruction fo with respect to the output frequency of inverter 4 becomes suitable value, switches by switch S 1～S3 according to the size of reference instruction fo.
As mentioned above, embodiment according to Fig. 1, its effect is the beat phenomenon owing to the electric current of output voltage that can suppress inverter 4 and induction motor 5, and this beat phenomenon is to result from the rectification pulsation of the ripple component △ Eo(converter 2 that contained in the input voltage E of inverter 4), so on induction motor 5, can not flow through excessive electric current, and can prevent the commutation failure or the damage of inverter 4, and the torque pulsation to induction motor 5 also can suppress, and can make the running of induction motor 5 steady.
The explanation of the embodiment of Fig. 1 is that the umber of pulse with the output voltage of inverter 4 is that the occasion of 1 pulse (referring to Fig. 5) is that object describes again, even but be that the occasion of a plurality of pulses is much less also without detriment to above-mentioned effect in umber of pulse.
The effect of its existence is because the beat phenomenon of the electric current of the output voltage of the inverter of the ripple component that can suppress to result to contain in the input voltage of inverter (the rectification pulsation of converter) and induction conductivity according to the present invention, so (1) not having excessive electric current on induction conductivity flows through, (2) can prevent commutation failure or the damage of inverter, (3) thus can also induction conductivity be turned round reposefully.
Claims (12)
1, a kind of inverter controlling apparatus, its feature comprises the inverter by the pulse width modulation of DC power supply, the frequency control apparatus that the output frequency of this inverter is controlled, the voltage-operated device that the output voltage of above-mentioned inverter is controlled, and become the device of adjusting the operating frequency of above-mentioned inverter for the direction that equates to the voltage time product of the adjacent positive and negative half cycle of the output voltage of above-mentioned inverter.
2, a kind of inverter controlling apparatus, its feature comprises the inverter by the pulse width modulation of DC power supply, the frequency control apparatus that the output frequency of this inverter is controlled, voltage-operated device to the output voltage of above-mentioned inverter is controlled reaches the input voltage or the device of electric current and the device of the output frequency of above-mentioned inverter being adjusted according to the output of this checkout gear that detect above-mentioned inverter.
3, inverter controlling apparatus as claimed in claim 2 is characterized in that above-mentioned detection device has the device of the pulsation rate of the input voltage that detects above-mentioned inverter or electric current.
4, inverter controlling apparatus as claimed in claim 3 is characterized in that the said frequencies adjusting device has the output frequency of above-mentioned inverter is adjusted so that hold the device of the frequency pulsation rate that responds above-mentioned pulsation rate.
5, inverter controlling apparatus as claimed in claim 2 is characterized in that it is the converter of direct current that above-mentioned DC power supply has exchange conversion, and above-mentioned detection device has near the band pass filter that carries out the people having the same aspiration and interest rectification ripple frequency of above-mentioned converter.
6, inverter controlling apparatus as claimed in claim 2 is characterized in that above-mentioned detection device has the device of the phase difference of detected pulsation being adjusted according to the output of said frequencies control device.
7, a kind of control device of the induction motor of controlling with inverter, its feature comprises with exchange conversion being the converter of direct current, by the pulse-width modulated inverter of this converter through the filter circuit power supply, by this Induction Motor Fed Inverter, detect the speed checkout gear of the speed of this induction motor, the slip frequency of above-mentioned induction motor is sent the slip frequency command device of instruction, the output of the above-mentioned slip frequency command device of plus-minus in the output of above-mentioned speed checkout gear, frequency control apparatus with the output frequency of controlling above-mentioned inverter, output corresponding to this frequency control apparatus, the voltage-operated device that the output voltage of above-mentioned inverter is controlled, detect the device of pulsation rate of the input voltage of above-mentioned inverter, the device of the output frequency of above-mentioned inverter being adjusted according to the output of this voltage pulse rate checkout gear and according to the output of at least one device in above-mentioned speed checkout gear and the above-mentioned voltage-operated device, the frequency adjustment amount means for correcting that the output of this frequency adjusting device is proofreaied and correct.
8, the control device of induction motor as claimed in claim 7, it is characterized in that above-mentioned voltage pulse rate checkout gear has the device of the ripple component of the input voltage that detects above-mentioned inverter, detect above-mentioned inverter input voltage flip-flop device and obtain above-mentioned mains ripple composition and the device of above-mentioned voltage flip-flop ratio.
9, the control device of induction motor as claimed in claim 7, it is characterized in that the said frequencies adjusting device is to make the output of above-mentioned voltage pulse rate checkout gear and the output of said frequencies control device and the output of said frequencies adjustment amount means for correcting carry out multiplying, and the device that carries out add operation with the output of said frequencies control device.
10, the control device of induction motor as claimed in claim 7 is characterized in that said frequencies adjustment amount means for correcting is made up of the multiplying device that the frequency of the input voltage flutter component of above-mentioned inverter is carried out the division arithmetic device with the output of above-mentioned speed checkout gear and make the output of this division arithmetic device make square operation.
11, the control device of induction motor as claimed in claim 7, it is characterized in that said frequencies adjustment amount means for correcting by with the frequency of the ripple component of the input voltage of above-mentioned inverter the 1st division arithmetic device, the multiplying device of square operation is made in the output of the 1st division arithmetic device and the output of this multiplying device is formed divided by the 2nd division arithmetic device of the output of above-mentioned voltage-operated device divided by the output of above-mentioned speed detection device.
12, the control device of induction motor as claimed in claim 7 is characterized in that above-mentioned mains ripple component detection apparatus is by the device that carries out tuning band-pass circuit and according to the output of said frequencies control device the phase difference between the input and output of this band-pass circuit is adjusted near the frequency of the ripple component of the input voltage of above-mentioned inverter.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP138089/87 | 1987-06-03 | ||
| JP13808987 | 1987-06-03 | ||
| JP62243804A JPH0746918B2 (en) | 1987-06-03 | 1987-09-30 | Power converter |
| JP243804/87 | 1987-09-30 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN88103400A true CN88103400A (en) | 1988-12-28 |
| CN1007572B CN1007572B (en) | 1990-04-11 |
Family
ID=26471226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN88103400A Expired CN1007572B (en) | 1987-06-03 | 1988-06-03 | Inverter control apparatus |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US5250890A (en) |
| EP (1) | EP0293915B1 (en) |
| JP (1) | JPH0746918B2 (en) |
| KR (1) | KR970005569B1 (en) |
| CN (1) | CN1007572B (en) |
| AU (1) | AU598379B2 (en) |
| DE (1) | DE3887206T2 (en) |
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| CN106357194B (en) * | 2015-07-15 | 2019-04-05 | 富士电机（中国）有限公司 | Control device for inverter and inverter control method |
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| CN109861565A (en) * | 2019-01-25 | 2019-06-07 | 湖南大学 | A kind of Model Reference Adaptive Control Method of two-stage type AC/DC converter |
| CN109861565B (en) * | 2019-01-25 | 2020-11-06 | 湖南大学 | Model reference self-adaptive control method of two-stage AC/DC converter |
Also Published As
| Publication number | Publication date |
|---|---|
| US5250890A (en) | 1993-10-05 |
| KR890001254A (en) | 1989-03-20 |
| KR970005569B1 (en) | 1997-04-17 |
| EP0293915B1 (en) | 1994-01-19 |
| CN1007572B (en) | 1990-04-11 |
| DE3887206T2 (en) | 1994-05-05 |
| JPS6477492A (en) | 1989-03-23 |
| DE3887206D1 (en) | 1994-03-03 |
| EP0293915A3 (en) | 1989-09-27 |
| EP0293915A2 (en) | 1988-12-07 |
| AU598379B2 (en) | 1990-06-21 |
| AU1697288A (en) | 1988-12-08 |
| JPH0746918B2 (en) | 1995-05-17 |
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| C15 | Extension of patent right duration from 15 to 20 years for appl. with date before 31.12.1992 and still valid on 11.12.2001 (patent law change 1993) | ||
| C17 | Cessation of patent right |